/*
 * Simbad - Robot Simulator Copyright (C) 2004 Louis Hugues
 * 
 * This program is free software; you can redistribute it and/or modify it under
 * the terms of the GNU General Public License as published by the Free Software
 * Foundation; either version 2 of the License, or (at your option) any later
 * version.
 * 
 * This program is distributed in the hope that it will be useful, but WITHOUT
 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
 * FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
 * details.
 * 
 * You should have received a copy of the GNU General Public License along with
 * this program; if not, write to the Free Software Foundation, Inc., 59 Temple
 * Place, Suite 330, Boston, MA 02111-1307 USA
 * 
 * -----------------------------------------------------------------------------
 * $Author: sioulseuguh $ 
 * $Date: 2005/03/17 17:55:54 $ $Revision: 1.3 $ 
 * $Source: /cvsroot/simbad/src/simbad/demo/SingleAvoiderDemo.java,v $
 */
package simbad.demo;

import javax.media.j3d.Transform3D;
import javax.vecmath.Color3f;
import javax.vecmath.Point3d;
import javax.vecmath.Vector3d;
import javax.vecmath.Vector3f;

import simbad.sim.Agent;
import simbad.sim.Box;
import simbad.sim.RangeSensorBelt;
import simbad.sim.RobotFactory;

/** A collision avoidance demo. */
public class SingleAvoiderDemo extends Demo {

	public class Robot extends Agent {
		Point3d coords = new Point3d();
		Point3d prev = new Point3d();
		Transform3D t3d = new Transform3D();

		RangeSensorBelt sonars, bumpers;

		boolean stop = false;

		public Robot(Vector3d position, String name) {
			super(position, name);
			// Add sensors
			bumpers = RobotFactory.addBumperBeltSensor(this, 12);
			sonars = RobotFactory.addSonarBeltSensor(this, 12);
		}

		/** Initialize Agent's Behavior */
		@Override
		public void initBehavior() {
			// nothing particular in this case
		}

		/** Perform one step of Agent's Behavior */
		@Override
		public void performBehavior() {

			if (!stop) {
				if (bumpers.oneHasHit()) {
					setTranslationalVelocity(-0.1);
					setRotationalVelocity(0.5 - (0.1 * Math.random()));

				} else if (sonars.oneHasHit()) {
					// reads the three front quadrants
					double left = sonars.getFrontLeftQuadrantMeasurement();
					double right = sonars.getFrontRightQuadrantMeasurement();
					double front = sonars.getFrontQuadrantMeasurement();
					// if obstacle near
					if ((front < 0.7) || (left < 0.7) || (right < 0.7)) {
						if (left < right)
							setRotationalVelocity(-1 - (0.1 * Math.random()));
						else
							setRotationalVelocity(1 - (0.1 * Math.random()));
						setTranslationalVelocity(0);

					} else {
						setRotationalVelocity(0);
						setTranslationalVelocity(0.6);
					}
				} else {
					setTranslationalVelocity(0.8);
					setRotationalVelocity(0);
				}
			}
			prev.set(coords);
			getCoords(coords);
			if ((coords.x < -5.1) || (coords.x > 5.1) || (coords.z < -5.1) || (coords.z > 5.1)) {
				// stop = true;
				System.out.println(coords.toString() + "prev-->" + prev.toString());
				getTranslationTransform(t3d);
				System.out.println("scale :" + t3d.getScale());
				this.moveToStartPosition();
			}

		}

	}

	public SingleAvoiderDemo() {
		setUsePhysics(false);
		boxColor = new Color3f(0.6f, 0.5f, .3f);

		setWorldSize(12);
		add(new Box(new Vector3d(-5, 0, 0), new Vector3f(0.1f, 1, 10), this));
		add(new Box(new Vector3d(0, 0, -5), new Vector3f(10, 1, 0.1f), this));
		add(new Box(new Vector3d(5, 0, 0), new Vector3f(0.1f, 1, 10), this));
		add(new Box(new Vector3d(0, 0, 5), new Vector3f(10, 1, 0.1f), this));
		add(new Box(new Vector3d(0, 0, 0), new Vector3f(6, 1, 6), this));

		// Add a robot.
		add(new Robot(new Vector3d(4, 0, 4), "my robot"));

	}
}